uint64 timestamp				# time since system start (microseconds)

# float32[4] control				# Roll, Pitch, Yaw, Throttle
# uint64 timestamp_sample_ctl			# timestamp of the data sample on which this message is based (microseconds)

uint64 timestamp_sample_pwm			# timestamp of the data sample on which this message is based (microseconds)
float32[4] output				# output data, in natural output units PWM

uint64 timestamp_sample_imu			# timestamp of the data sample on which this message is based (microseconds)
float32[3] vehicle_acceleration_xyz		# Bias corrected acceleration (including gravity) in body axis (in m/s^2)
float32[3] vehicle_angular_velocity_xyz	# Bias corrected angular velocity about X, Y, Z body axis (in rad/s)

# uint64 timestamp_sample_jy901b		# time since system start (microseconds)
# float32[3] jy901b_acc            # accel
# float32[3] jy901b_gyro            # gyro
# float32[3] jy901b_euler            # euler angle
# float32[4] jy901b_q            # quaternion
# int32 jy901b_baro            # pascal
# float32 jy901b_temp             # temp

# uint64 timestamp_sample_bias			# timestamp of the data sample on which this message is based (microseconds)
# float32[3] gyro_bias				# gyroscope in-run bias in body frame (rad/s)
# float32[3] accel_bias				# accelerometer in-run bias in body frame (m/s^2)

float32[3] vehicle_attitude_ned			# Euler rotation from XYZ body frame to NED earth frame, phi theta psi.
uint64 timestamp_sample_att 			# timestamp of the data sample on which this message is based (microseconds)

#uint64 timestamp_sample_external_vision		# timestamp of the data sample on which this message is based (microseconds)
#float32[3] external_vision_position_ned		# EV_Position in NED earth-fixed frame, (metres)

uint64 timestamp_sample_ground_truth		# timestamp of the data sample on which this message is based (microseconds)
float32[3] ground_truth_position_ned		# Position in NED earth-fixed frame, (metres)
float32[3] ground_truth_velocity_ned		# Velocity in NED earth-fixed frame, (metres/sec)
float32[3] ground_truth_velocity_xyz		# Velocity in Body frame, (metres/sec)
float32[3] ground_truth_acceleration_ned	# Acceleration in NED earth-fixed frame, (metres/sec^2)
float32[3] ground_truth_acceleration_xyz	# Acceleration in XYZ Body frame, (metres/sec^2)

float32 pressure	                       # static pressure measurement in millibar
float32 temperature	                       # static temperature measurement in deg C
uint64 timestamp_sample_baro 			# timestamp of the data sample on which this message is based (microseconds)

float32 windspeed_x						# Airspeed measurement along x-axis in body frame, (metres/sec)
float32 windspeed_y						# Airspeed measurement along y-axis in body frame, (metres/sec)
float32 windspeed_z						# Airspeed measurement along z-axis in body frame, (metres/sec)
float32 windspeed_zs						# Second Airspeed measurement along z-axis in body frame, (metres/sec)
uint64 timestamp_sample_wind 			# timestamp of the data sample on which this message is based (microseconds)

float32 battery_scale					# Power scaling factor, >= 1, or -1 if unknown
uint64 timestamp_sample_bat 			# timestamp of the data sample on which this message is based (microseconds)

# TOPICS data_record
